CN111874120A - Method for controlling walking of follow-up bionic robot - Google Patents
Method for controlling walking of follow-up bionic robot Download PDFInfo
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- CN111874120A CN111874120A CN202010879513.XA CN202010879513A CN111874120A CN 111874120 A CN111874120 A CN 111874120A CN 202010879513 A CN202010879513 A CN 202010879513A CN 111874120 A CN111874120 A CN 111874120A
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- foot
- pedal
- robot
- follow
- rotary table
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a method for controlling a follow-up bionic robot to walk, which is characterized by comprising the following steps of: the reverse numerical control following pedal device utilizing the mirror image principle is characterized in that a control system captures all actions of a controller through a video capture or wearable sensor, and the follow-up robot is controlled by the in-situ actions of the controller to simulate a human to walk according to a certain gradient or height. The invention can control the follow-up robot to completely simulate the gait walking of a user, realizes that the follow-up robot can be controlled to walk in any range by the in-situ motion of the human, particularly to walk when climbing mountains, going upstairs or walking at a certain gradient, and solves the problem of walking with two feet of the traditional robot.
Description
Technical Field
The invention relates to a method for controlling a follow-up bionic robot to walk, and belongs to the technical field of robot control.
Background
With the development of the follow-up robot, the walking control of the follow-up robot is currently wheel walking or program control, and is particularly limited by the walking terrain of the robot and the motion range of a human, and a robot control method which completely simulates the walking action of the human is not available.
Disclosure of Invention
In order to realize the walking action of the follow-up robot simulating the human, the invention provides a method for realizing in-situ control of the walking of the follow-up bionic robot by adopting a mirror image numerical control pedal to follow the gait of a user.
In order to achieve the technical purpose, the invention adopts the technical scheme that: a method for controlling the walking of a follow-up bionic robot is characterized in that a reverse numerical control follow-up pedal device based on a mirror image principle is utilized, a control system captures all actions of a controller through a video capture or wearable sensor, and the follow-up robot is controlled to walk according to a certain gradient or height through the in-situ actions of the controller.
Further, the reverse numerical control following pedal device utilizing the mirror image principle is as follows: the pedal and the biped motion collection system are followed in the numerical control that the setting is used for the biped to trample, gather the moving direction and the distance transmission that lift the foot in real time by the biped motion collection system and transmit to control system, and that control system real time control foot was stepped on follows the footboard, and the distance that the direction opposite was removed to the direction that lifts the foot moves corresponds is rotated unloaded simultaneously and is followed the footboard, follows the direction of rotation that lifts the foot in real time.
Furthermore, the real-time acquisition of the moving direction and distance of the lifted foot by the double-leg movement acquisition device is as follows: if the left foot is taken first, the right pedal is controlled to move in the opposite direction in real time according to the moving speed and the moving direction of the left foot, the left foot is always placed in place when falling, the right pedal automatically returns to the initial position after being lifted and automatically adjusts the direction along with the direction of the right foot, the left pedal moves in the opposite direction in real time according to the moving speed and the moving direction of the right foot, and the situation that the right foot is still at the initial position when falling is guaranteed.
Furthermore, the reverse numerical control following pedal device comprises a left pedal and a right pedal which are used for being stepped by double feet, a left pedal lifting rotary table is arranged under the left pedal, a right pedal lifting rotary table is arranged under the right pedal, the left pedal lifting rotary table and the right pedal lifting rotary table are both arranged on corresponding mechanical arms, and the mechanical arms are fixed on a device platform.
Furthermore, the control system controls the left pedal lifting rotary table and the right pedal lifting rotary table, when the user lifts the left foot, the control system controls the left pedal lifting rotary table to lift and the right pedal lifting rotary table to descend in real time, the height difference of the relative movement of the left pedal and the right pedal corresponds to the height difference of the movement of the two feet of the follow-up robot, when the control system receives a contact signal fed back by the sensor at the bottom of the left foot lifted by the servo robot, namely, when the left foot of the follow-up robot falls on the ground with a certain height, the motion of the two pedals is stopped immediately, when the user lifts the right foot, the control system controls the left pedal lifting turntable to descend and the right pedal lifting turntable to ascend, the following robot is controlled to walk according to a certain height by the change of the high and low positions of the steps of the user in a certain specific range, and the follow-up robot can go upstairs or climb a mountain or walk on a certain slope.
The invention has the beneficial effects that: the method can control the follow-up robot to completely simulate the gait walking of a user, realize that the follow-up robot can be controlled to walk in any range by the movement of the human in situ, particularly to walk for climbing mountains, going upstairs or walking at a certain slope, and solve the problem of walking with two feet of the traditional robot.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic structural view of the present invention;
in the figure, 1, a left foot, 2, a left pedal, 3, a left pedal lifting turntable, 4, a left mechanical arm, 5, a right foot, 6, a right pedal, 7, a right pedal lifting turntable, 8, a right mechanical arm, 9 and a platform.
Detailed Description
A method for controlling the walking of a follow-up bionic robot is characterized in that a reverse numerical control follow-up pedal device based on a mirror image principle is utilized, a control system captures all actions of a controller through a video capture or wearable sensor, and the follow-up robot is controlled to walk according to a certain gradient or height through the in-situ actions of the controller. Mainly aims at uneven roads, slopes, stairs or mountains and the like.
The reverse numerical control following pedal device utilizing the mirror image principle is characterized in that: the pedal and the biped motion collection system are followed in the numerical control that the setting is used for the biped to trample, gather the moving direction and the distance transmission that lift the foot in real time by the biped motion collection system and transmit to control system, and that control system real time control foot was stepped on follows the footboard, and the distance that the direction opposite was removed to the direction that lifts the foot moves corresponds is rotated unloaded simultaneously and is followed the footboard, follows the direction of rotation that lifts the foot in real time.
The real-time collection of the moving direction and distance of the lifted foot by the double-leg motion collection device is as follows: if the left foot 1 is taken first, the right pedal 6 is controlled to move in the opposite direction in real time according to the moving speed and the moving direction of the left foot 1, the left foot 1 is always in place when falling, the right pedal 6 automatically returns to the initial position after the right foot 5 is lifted, the direction is automatically adjusted along with the direction of the right foot 5, and the left pedal 2 moves in the opposite direction in real time according to the moving speed and the moving direction of the right foot 5, so that the right foot is still at the initial position when falling.
As shown in fig. 1, the reverse numerical control follow-up pedal device comprises a left pedal 2 and a right pedal 6 which are used for being stepped by two feet, a left pedal lifting turntable 3 is arranged under the left pedal 2, a right pedal lifting turntable 7 is arranged under the right pedal 6, the left pedal lifting turntable and the right pedal lifting turntable are both arranged on corresponding mechanical arms (a left mechanical arm 4 and a right mechanical arm 8), and the mechanical arms are fixed on a device platform 9.
The control system controls the left pedal lifting rotary table and the right pedal lifting rotary table, when a user lifts a left foot, the control system controls the left pedal lifting rotary table 3 to lift and the right pedal lifting rotary table 7 to descend in real time, the height difference of the relative motion of the left pedal and the right pedal corresponds to the height difference of the motion of two feet of the servo robot, when the control system receives a contact signal fed back by a left foot bottom sensor lifted by the servo robot, namely when the left foot of the servo robot falls on a certain height ground, the motion of the two pedals is stopped immediately, when the user lifts the right foot, the control system controls the left pedal lifting rotary table to descend and the right pedal lifting rotary table to lift, and the cycle is repeated, so that the change of the height position of the user's foot in a certain specific range controls the servo robot to walk according to a certain height, and the servo robot goes upstairs, climbs or walks on a certain slope.
The invention is provided with a reverse numerical control following pedal and a double-leg motion acquisition device for treading by two feet, the moving direction and distance of the lifting foot are acquired by the double-leg motion acquisition device in real time and transmitted to a control system, the control system controls the following pedal treaded by the foot in real time, the corresponding distance is moved in the direction opposite to the moving direction of the lifting foot, the unloaded following pedal is rotated at the same time, the rotating direction of the lifting foot is followed in real time, simultaneously, the numerical control pedals which are lifted up and down are adopted, the relative motion height difference of the two pedals is controlled to correspond to the motion height difference of the two feet of the following robot, all actions of a controller are captured by a video capture or a wearable sensor and are synchronously output to the following robot, the following robot is controlled to completely simulate the gait of a user, and the following robot can be controlled to walk in any range by the in-situ motion of. The following robot is controlled to complete following movement on a non-plane, particularly climbing a hill, going up a stair or walking at a certain slope, and the problem that the existing robot walks with two feet is solved.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and various changes or modifications within the scope of the claims may be made by those skilled in the art without departing from the scope of the present invention.
Claims (5)
1. A method for controlling the walking of a follow-up bionic robot is characterized in that: the reverse numerical control following pedal device utilizing the mirror image principle is characterized in that a control system captures all actions of a controller through a video capture or wearable sensor, and the follow-up robot is controlled by the in-situ actions of the controller to simulate a human to walk according to a certain gradient or height.
2. The method of controlling walking of a follow-up biomimetic robot according to claim 1, wherein: the reverse numerical control following pedal device utilizing the mirror image principle is characterized in that: the pedal and the biped motion collection system are followed in the numerical control that the setting is used for the biped to trample, gather the moving direction and the distance transmission that lift the foot in real time by the biped motion collection system and transmit to control system, and that control system real time control foot was stepped on follows the footboard, and the distance that the direction opposite was removed to the direction that lifts the foot moves corresponds is rotated unloaded simultaneously and is followed the footboard, follows the direction of rotation that lifts the foot in real time.
3. The method of controlling walking of a follow-up biomimetic robot according to claim 2, wherein: the real-time collection of the moving direction and distance of the lifted foot by the double-leg motion collection device is as follows: if the left foot is taken first, the right pedal is controlled to move in the opposite direction in real time according to the moving speed and the moving direction of the left foot, the left foot is always placed in place when falling, the right pedal automatically returns to the initial position after being lifted and automatically adjusts the direction along with the direction of the right foot, the left pedal moves in the opposite direction in real time according to the moving speed and the moving direction of the right foot, and the situation that the right foot is still at the initial position when falling is guaranteed.
4. The method of controlling walking of a follow-up biomimetic robot according to claim 1, wherein: the reverse numerical control following pedal device comprises a left pedal and a right pedal which are used for being stepped on by double feet, a left pedal lifting rotary table is arranged under the left pedal, a right pedal lifting rotary table is arranged under the right pedal, the left pedal lifting rotary table and the right pedal lifting rotary table are both arranged on corresponding mechanical arms, and the mechanical arms are fixed on a device platform.
5. The method of controlling walking of a follow-up biomimetic robot according to claim 4, wherein: the control system controls the left pedal lifting rotary table and the right pedal lifting rotary table, when a user lifts a left foot, the control system controls the left pedal lifting rotary table to lift and the right pedal lifting rotary table to descend in real time, the height difference of the relative motion of the left pedal and the right pedal corresponds to the height difference of the motion of two feet of the servo robot, when the control system receives a contact signal fed back by a sensor at the bottom of the left foot lifted by the servo robot, namely when the left foot of the servo robot falls on a certain height ground, the motion of the two pedals is stopped immediately, when the user lifts the right foot, the control system controls the left pedal lifting rotary table to descend and the right pedal lifting rotary table to lift, and the cycle is repeated, so that the change of the height position of the user's foot in a certain specific range controls the servo robot to walk according to a certain height, and the servo robot can climb the stairs or walk on a certain slope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010879513.XA CN111874120A (en) | 2020-08-27 | 2020-08-27 | Method for controlling walking of follow-up bionic robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010879513.XA CN111874120A (en) | 2020-08-27 | 2020-08-27 | Method for controlling walking of follow-up bionic robot |
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| CN111874120A true CN111874120A (en) | 2020-11-03 |
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| CN202010879513.XA Withdrawn CN111874120A (en) | 2020-08-27 | 2020-08-27 | Method for controlling walking of follow-up bionic robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004298982A (en) * | 2003-03-31 | 2004-10-28 | Toyota Motor Corp | Walking robot to reduce grounding shock and its control method |
| CN105963909A (en) * | 2016-06-08 | 2016-09-28 | 北京斯凯兰恩广告有限公司 | Footstep following mechanical device and control method thereof |
| CN108297964A (en) * | 2018-02-11 | 2018-07-20 | 坎德拉（深圳）科技创新有限公司 | Biped robot and its ambulation control method |
| CN108635836A (en) * | 2018-05-18 | 2018-10-12 | 广州卓远虚拟现实科技有限公司 | A kind of both feet that VR game uses trample the peripheral device and its control method of control |
| CN209919901U (en) * | 2018-12-15 | 2020-01-10 | 华南理工大学 | Immersive mobile grabbing service robot hardware system |
| CN111580675A (en) * | 2020-05-20 | 2020-08-25 | 徐航 | Method for multi-azimuth footstep dynamic data in-situ acquisition |
-
2020
- 2020-08-27 CN CN202010879513.XA patent/CN111874120A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004298982A (en) * | 2003-03-31 | 2004-10-28 | Toyota Motor Corp | Walking robot to reduce grounding shock and its control method |
| CN105963909A (en) * | 2016-06-08 | 2016-09-28 | 北京斯凯兰恩广告有限公司 | Footstep following mechanical device and control method thereof |
| CN108297964A (en) * | 2018-02-11 | 2018-07-20 | 坎德拉（深圳）科技创新有限公司 | Biped robot and its ambulation control method |
| CN108635836A (en) * | 2018-05-18 | 2018-10-12 | 广州卓远虚拟现实科技有限公司 | A kind of both feet that VR game uses trample the peripheral device and its control method of control |
| CN209919901U (en) * | 2018-12-15 | 2020-01-10 | 华南理工大学 | Immersive mobile grabbing service robot hardware system |
| CN111580675A (en) * | 2020-05-20 | 2020-08-25 | 徐航 | Method for multi-azimuth footstep dynamic data in-situ acquisition |
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Application publication date: 20201103 |
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